title: Robot-aided motion planning for knee joint rehabilitation with two robot-manipulators.
abstract: In this paper, we propose a simultaneous design method of motion and external force trajectories for knee joint rehabilitation based on the biomechanical analysis of the lower limb. In this method we assume to use two robots manipulators which provide forces and moments at shank and thigh. We developed a 7 degree of freedom musculoskeletal model of lower limb with 19 muscles. The valuation function of rehabilitation efficiency e has been maximized by Genetic Algorithm (GA) that refers to the musculoskeletal model and tunes motion trajectory of the robots and forces acting on the shank and thigh.
authors.forename: Y
authors.initials: Y
authors.lastname: Pei
authors.forename: Y
authors.initials: Y
authors.lastname: Kim
authors.forename: G
authors.initials: G
authors.lastname: Obinata
authors.forename: E
authors.initials: E
authors.lastname: Genda
authors.forename: D
authors.initials: D
authors.lastname: Stefanov
mesh_terms: D001696:Biomechanical Phenomena; D006801:Humans; D007592:Joint Diseases / Q000534:rehabilitation*; D007719:Knee Joint / Q000503:physiopathology*; D009068:Movement; D026741:Physical Therapy Modalities; D012371:Robotics